Merge pull request #1 from ros-perception/ros2

Port point_cloud_transport_plugins to ROS2

.github/workflows/build-and-test.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+set -ev
+
+# Configuration.
+export COLCON_WS=~/ws
+export COLCON_WS_SRC=${COLCON_WS}/src
+export DEBIAN_FRONTEND=noninteractive
+export ROS_PYTHON_VERSION=3
+
+apt update -qq
+apt install -qq -y lsb-release wget curl build-essential
+
+# Dependencies.
+echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+apt-get update -qq
+apt-get install -y python3-colcon-common-extensions \
+                   python3-rosdep python3-vcstool python3-vcstools
+
+rosdep init
+rosdep update
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO $ROSDEP_ARGS
+
+# Build.
+source /opt/ros/$ROS_DISTRO/setup.bash
+mkdir -p $COLCON_WS_SRC
+cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC
+cd $COLCON_WS
+echo $1
+wget $1
+vcs import src < point_cloud_transport.repos
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO $ROSDEP_ARGS
+colcon build --event-handlers console_direct+
+
+# Tests.
+colcon test --event-handlers console_direct+
+colcon test-result

.github/workflows/ros2-ci.yml

@@ -0,0 +1,24 @@
+name: ROS2 CI
+
+on: [push, pull_request]
+
+jobs:
+  point_cloud_transport_ci:
+    name: point_cloud_transport CI
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - docker-image: "ubuntu:22.04"
+            ros-distro: "rolling"
+    container:
+      image: ${{ matrix.docker-image }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Build and Test
+        run: .github/workflows/build-and-test.sh https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/point_cloud_transport.repos
+        env:
+          DOCKER_IMAGE: ${{ matrix.docker-image }}
+          ROS_DISTRO: ${{ matrix.ros-distro }}

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "algorithm": "cpp",
+        "memory": "cpp"
+    }
+}

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).

draco_point_cloud_transport/CMakeLists.txt

@@ -1,112 +1,62 @@
 cmake_minimum_required(VERSION 3.10.2)
+
+set(CMAKE_CXX_STANDARD 17)
+
 project(draco_point_cloud_transport)
 
-# Use Draco as a standalone cmake project, it gets built thanks to catkin
-# package.xml.
-find_package(catkin REQUIRED COMPONENTS
-  cras_cpp_common
-  dynamic_reconfigure
-  message_generation
-  pluginlib
-  point_cloud_transport
-  sensor_msgs
-  std_msgs)
+find_package(ament_cmake REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(point_cloud_interfaces REQUIRED)
+find_package(point_cloud_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 
-# There are some find_package/naming issues due to name draco/Draco mismatch.
-# Currently, with caktin tools only DracoConfig.cmake is found with just two
-# variables defined, draco_INCLUDE_DIR and draco_LIBRARY_DIR. In that case we
-# try to reconstruct the rest from FindDraco.cmake (module mode).
 find_package(Draco REQUIRED)
-if(draco_INCLUDE_DIR)
-  set(draco_FOUND TRUE)
-  set(draco_LIBRARY_DIRS "${draco_LIBRARY_DIR}")
-  find_path(draco_INCLUDE_DIRS draco/point_cloud/point_cloud.h PATHS "${draco_INCLUDE_DIR}/..")
-  find_library(draco_LIBRARIES NAMES draco PATHS "${draco_LIBRARY_DIR}")
-  message("Draco found: ${draco_INCLUDE_DIRS}, ${draco_LIBRARIES}")
-endif()
 
-add_message_files(FILES
-  CompressedPointCloud2.msg
-)
-
-generate_messages(DEPENDENCIES
+set(dependencies
+  pluginlib
+  point_cloud_interfaces
+  point_cloud_transport
+  rclcpp
   sensor_msgs
   std_msgs
 )
 
-generate_dynamic_reconfigure_options(cfg/DracoPublisher.cfg cfg/DracoSubscriber.cfg)
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS message_runtime point_cloud_transport sensor_msgs std_msgs
-)
-
-include_directories(include ${catkin_INCLUDE_DIRS} SYSTEM ${draco_INCLUDE_DIRS})
+include_directories(include ${DRACO_INCLUDE_DIR})
 
-set(SOURCE_FILES
+add_library(${PROJECT_NAME}
+  SHARED
+  src/cloud.cpp
   src/draco_publisher.cpp
   src/draco_subscriber.cpp
-)
-
-add_library(${PROJECT_NAME}
-  ${SOURCE_FILES}
-)
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES} PRIVATE ${draco_LIBRARIES})
-
-add_library(${PROJECT_NAME}_plugin
-  ${SOURCE_FILES}
   src/manifest.cpp
 )
-add_dependencies(${PROJECT_NAME}_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_plugin PUBLIC ${catkin_LIBRARIES} PRIVATE ${draco_LIBRARIES})
-class_loader_hide_library_symbols(${PROJECT_NAME}_plugin)
 
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugin
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
+target_link_libraries(${PROJECT_NAME} ${DRACO_LIBRARY})
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-)
+ament_target_dependencies(${PROJECT_NAME} ${dependencies})
 
-install(FILES draco_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-if (CATKIN_ENABLE_TESTING)
-  find_package(roslint REQUIRED)
-
-  # catkin_lint - checks validity of package.xml and CMakeLists.txt
-  # ROS buildfarm calls this without any environment and with empty rosdep cache,
-  # so we have problems reading the list of packages from env
-  # see https://github.com/ros-infrastructure/ros_buildfarm/issues/923
-  if(DEFINED ENV{ROS_HOME})
-    #catkin_lint: ignore_once env_var
-    set(ROS_HOME "$ENV{ROS_HOME}")
-  else()
-    #catkin_lint: ignore_once env_var
-    set(ROS_HOME "$ENV{HOME}/.ros")
-  endif()
-  #catkin_lint: ignore_once env_var
-  if(DEFINED ENV{ROS_ROOT} AND EXISTS "${ROS_HOME}/rosdep/sources.cache")
-    roslint_custom(catkin_lint "-W2" .)
-  endif()
-
-  # Roslint C++ - checks formatting and some other rules for C++ files
-
-  file(GLOB_RECURSE ROSLINT_INCLUDE include/*.h include/*.hpp)
-  file(GLOB_RECURSE ROSLINT_SRC src/*.cpp src/*.hpp src/*.h)
-  #file(GLOB_RECURSE ROSLINT_TEST test/*.cpp)
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
 
-  set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
-    -build/header_guard,-readability/namespace,-whitespace/braces,-runtime/references,\
-    -build/c++11,-readability/nolint,-readability/todo,-legal/copyright,-build/namespaces")
-  roslint_cpp(${ROSLINT_INCLUDE} ${ROSLINT_SRC})
+pluginlib_export_plugin_description_file(point_cloud_transport draco_plugins.xml)
 
-  roslint_add_test()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+ament_package()

draco_point_cloud_transport/README.md

@@ -42,9 +42,9 @@ By adjusting the **encode_speed** and **dedode_speed** parameters, one can adjus
  - "ny" - NORMAL
  - "nz" - NORMAL
  - all others are encoded as GENERIC
- 
+
  To specify custom quantization, one can either edit the list of recognized names or use **expert_quantization** and **expert_attribute_type** options.
- 
+
 ### Expert Quantization
 
 **Expert_quantization** option tell the encoder to use custom quantization values for point cloud attributes. Multiple POSITION attribute can therefore be encoded with varying quantization levels.
@@ -55,7 +55,7 @@ To set a quantization for a PointField entry "x" of point cloud which will be ad
 Example:
 
 ```bash
-$ rosparam set /base_topic/draco/attribute_mapping/quantization_bits/x 16
+ros2 param set <node name> /<base_topic>/draco/attribute_mapping/quantization_bits/x 16
 ```
 
 When using **expert_quantization**, user must specify the quantization bits for all PointField entries of point cloud.
@@ -70,11 +70,11 @@ To set a type for a PointField entry "x" of point cloud which will be advertised
 Example:
 
 ```bash
-$ rosparam set /base_topic/draco/attribute_mapping/attribute_type/x "'POSITION'"
+ros2 param set <node name> /<base_topic>/draco/attribute_mapping/attribute_type/x "'POSITION'"
 ```
 
 When using **expert_attribute_types**, user must specify the type for all PointField entries of point cloud. Accepted types are:
- - POSITION 
+ - POSITION
  - NORMAL
  - COLOR
  - TEX_COORD
@@ -83,7 +83,7 @@ When using **expert_attribute_types**, user must specify the type for all PointF
 When encoding rgb/rgba COLOR, user can specify to use the common rgba tweak of ROS (encoding rgba as 4 instances of 1 Byte instead of 1 instance of float32). To inform the encoder, that PointField entry "rgb" should be handled with the tweak, set parameter:
 
 ```bash
-$ rosparam set /base_topic/draco/attribute_mapping/rgba_tweak/rgb true
+ros2 param set <node name> /<base_topic>/draco/attribute_mapping/rgba_tweak/rgb true
 ```
 
 ## Subscriber

draco_point_cloud_transport/draco_plugins.xml

@@ -1,11 +1,17 @@
-<library path="lib/libdraco_point_cloud_transport_plugin">
-    <class name="point_cloud_transport/draco_pub" type="draco_point_cloud_transport::DracoPublisher" base_class_type="point_cloud_transport::PublisherPlugin">
+<library path="draco_point_cloud_transport">
+    <class 
+        name="point_cloud_transport/draco_pub"
+        type="draco_point_cloud_transport::DracoPublisher"
+        base_class_type="point_cloud_transport::PublisherPlugin">
         <description>
             This plugin publishes a CompressedPointCloud2 using KD tree compression.
         </description>
     </class>
 
-    <class name="point_cloud_transport/draco_sub" type="draco_point_cloud_transport::DracoSubscriber" base_class_type="point_cloud_transport::SubscriberPlugin">
+    <class 
+        name="point_cloud_transport/draco_sub"
+        type="draco_point_cloud_transport::DracoSubscriber"
+        base_class_type="point_cloud_transport::SubscriberPlugin">
         <description>
             This plugin decompresses a CompressedPointCloud2 topic.
         </description>